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new file mode 100644
index 0000000000000000000000000000000000000000..698a38035c6c94af4ad9a4704117b631b5cf501a
--- /dev/null
+++ b/dex/drill_1.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4d3611681ea8243168305268eb354d9d6405ad2f46e980e56db8e9cad528f66e
+size 4519844
diff --git a/dex/table.glb b/dex/table.glb
new file mode 100644
index 0000000000000000000000000000000000000000..11917f8666a15536518f114a2fb6b1a60be67771
--- /dev/null
+++ b/dex/table.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b93640bfa98be24b756a21610f141fb81a8fc480cb2e3dacdbc0e7e1627e6e12
+size 242340
diff --git a/shadow_hand/LICENSE b/shadow_hand/LICENSE
new file mode 100644
index 0000000000000000000000000000000000000000..b87901b1ee5012ebc6b5e26a8394cfafa06c7bfe
--- /dev/null
+++ b/shadow_hand/LICENSE
@@ -0,0 +1,205 @@
+
+ Apache License
+ Version 2.0, January 2004
+ http://www.apache.org/licenses/
+
+ TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
+
+ 1. Definitions.
+
+ "License" shall mean the terms and conditions for use, reproduction,
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+ any Contribution intentionally submitted for inclusion in the Work
+ by You to the Licensor shall be under the terms and conditions of
+ this License, without any additional terms or conditions.
+ Notwithstanding the above, nothing herein shall supersede or modify
+ the terms of any separate license agreement you may have executed
+ with Licensor regarding such Contributions.
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+ 6. Trademarks. This License does not grant permission to use the trade
+ names, trademarks, service marks, or product names of the Licensor,
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+ 7. Disclaimer of Warranty. Unless required by applicable law or
+ agreed to in writing, Licensor provides the Work (and each
+ Contributor provides its Contributions) on an "AS IS" BASIS,
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+ appropriateness of using or redistributing the Work and assume any
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+ 8. Limitation of Liability. In no event and under no legal theory,
+ whether in tort (including negligence), contract, or otherwise,
+ unless required by applicable law (such as deliberate and grossly
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+ has been advised of the possibility of such damages.
+
+ 9. Accepting Warranty or Additional Liability. While redistributing
+ the Work or Derivative Works thereof, You may choose to offer,
+ and charge a fee for, acceptance of support, warranty, indemnity,
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+ on Your own behalf and on Your sole responsibility, not on behalf
+ of any other Contributor, and only if You agree to indemnify,
+ defend, and hold each Contributor harmless for any liability
+ incurred by, or claims asserted against, such Contributor by reason
+ of your accepting any such warranty or additional liability.
+
+ END OF TERMS AND CONDITIONS
+
+ APPENDIX: How to apply the Apache License to your work.
+
+ To apply the Apache License to your work, attach the following
+ boilerplate notice, with the fields enclosed by brackets "[]"
+ replaced with your own identifying information. (Don't include
+ the brackets!) The text should be enclosed in the appropriate
+ comment syntax for the file format. We also recommend that a
+ file or class name and description of purpose be included on the
+ same "printed page" as the copyright notice for easier
+ identification within third-party archives.
+
+ Copyright 2022 Shadow Robot Company Ltd
+
+ Licensed under the Apache License, Version 2.0 (the "License");
+ you may not use this file except in compliance with the License.
+ You may obtain a copy of the License at
+
+ http://www.apache.org/licenses/LICENSE-2.0
+
+ Unless required by applicable law or agreed to in writing, software
+ distributed under the License is distributed on an "AS IS" BASIS,
+ WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ See the License for the specific language governing permissions and
+ limitations under the License.
+
+The model files we obtained from the previously mentioned source underwent significant modifications by dex_urdf authors.
+These modifications included changes to the meshes and the URDF file itself.
diff --git a/shadow_hand/README.md b/shadow_hand/README.md
new file mode 100644
index 0000000000000000000000000000000000000000..7cf3f1c76f0203a32b0930042fa83ada9f709b5c
--- /dev/null
+++ b/shadow_hand/README.md
@@ -0,0 +1,13 @@
+### Modifications to URDF
+
+The initial `dae` meshes found in
+the [shadow hand repository](https://github.com/shadow-robot/sr_common/tree/noetic-devel/sr_description/meshes/components/f_knuckle)
+were identical or very similar for the `f_knuckle`. As a result, we retained only one of these. The same process was
+applied to meshes of other parts, with duplicates being removed to enhance the clarity of the file structure.
+
+For the `distal` finger, we have only kept the `pst` version, which does not include the biotac sensor.
+
+In addition, we have increased the inertia for all fingertip links to resolve the position drive problem in SAPIEN and
+IsaacGym.
+
+Almost all meshes have been modified to improve visual quality and collision management.
\ No newline at end of file
diff --git a/shadow_hand/bimanual.urdf b/shadow_hand/bimanual.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2f7c5da7f37ea6a0af2ce80acececa06d3c16853
--- /dev/null
+++ b/shadow_hand/bimanual.urdf
@@ -0,0 +1,1893 @@
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diff --git a/shadow_hand/meshes/collision/f_distal_pst.obj b/shadow_hand/meshes/collision/f_distal_pst.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9cdb12222fb7ee62ae326a3f253736033606bba7
--- /dev/null
+++ b/shadow_hand/meshes/collision/f_distal_pst.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:60fc4387b60b9362cdbc5b40d8f3869247cc5049de75fc6e7e7ae32cf8e87e33
+size 29008
diff --git a/shadow_hand/meshes/collision/f_knuckle_E3M5.obj b/shadow_hand/meshes/collision/f_knuckle_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..20cc3acf46c206bf39ed27a542bb1b497a0ebb0a
--- /dev/null
+++ b/shadow_hand/meshes/collision/f_knuckle_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:7b76866ef85a388f79dba377293c7d12a17154d369c225e760afa9ccd5fa6b22
+size 7362
diff --git a/shadow_hand/meshes/collision/forearm_E3M5.obj b/shadow_hand/meshes/collision/forearm_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..dfbbbb866b15fbfb2a3f25de381d9ab226767cce
--- /dev/null
+++ b/shadow_hand/meshes/collision/forearm_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:ae348fdf00c61695dbd484455070101e901d89f3977a7585ae575742cec4a3be
+size 29880
diff --git a/shadow_hand/meshes/collision/th_middle_E3M5.obj b/shadow_hand/meshes/collision/th_middle_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..5bbf35a0b211deabaf645fec50df299fcab93c93
--- /dev/null
+++ b/shadow_hand/meshes/collision/th_middle_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:de7278a75a3cc202f7186f0e0701c22c2cd6cdaf6ea68f991cbefb819d7bce38
+size 321510
diff --git a/shadow_hand/meshes/collision/th_proximal_E3M5.obj b/shadow_hand/meshes/collision/th_proximal_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..b6383ef4583b431a4dadd6c4aa3bfe593207eb18
--- /dev/null
+++ b/shadow_hand/meshes/collision/th_proximal_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1763d80c8e34ed86bc20f0de67cd683aaf10eb7ff3b8395a9ab2b35554183c4c
+size 353175
diff --git a/shadow_hand/meshes/visual/f_distal_pst.glb b/shadow_hand/meshes/visual/f_distal_pst.glb
new file mode 100644
index 0000000000000000000000000000000000000000..159b14f0ccb3db9e7fe5f20a0d657d9320bb066f
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_distal_pst.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:a961159aafcda9906e30456dbe6956890b207bea6dd82aa83494473a2a7692a4
+size 393712
diff --git a/shadow_hand/meshes/visual/f_distal_pst.mtl b/shadow_hand/meshes/visual/f_distal_pst.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_distal_pst.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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+illum 2
diff --git a/shadow_hand/meshes/visual/f_distal_pst.obj b/shadow_hand/meshes/visual/f_distal_pst.obj
new file mode 100644
index 0000000000000000000000000000000000000000..c3274b375c6e5cc849588b3e64c45e8916ac42f1
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_distal_pst.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:04d7ddc2166089b0c670806c1d1eb4b47b8f8c48428c00581b0fe64d59d4e5f8
+size 378684
diff --git a/shadow_hand/meshes/visual/f_knuckle_E3M5.glb b/shadow_hand/meshes/visual/f_knuckle_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..607944f6704a6ed9f06a9ded2469336f365ee78f
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_knuckle_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:4cfd18bc698f89813900fd1a743459b35f95c8aa3d873e37bd5749ef4cdef16a
+size 41528
diff --git a/shadow_hand/meshes/visual/f_knuckle_E3M5.mtl b/shadow_hand/meshes/visual/f_knuckle_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..61ea4e44c443b4687eb50f2af4cb24bb5811c6e0
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_knuckle_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 640.000000
+Ka 0.600000 0.600000 0.600000
+Kd 0.500000 0.500000 0.500000
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+Ke 0.000000 0.000000 0.000000
+Ni 1.450000
+d 1.000000
+illum 3
diff --git a/shadow_hand/meshes/visual/f_knuckle_E3M5.obj b/shadow_hand/meshes/visual/f_knuckle_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8b418c63eb14eda3ed41e5b4584cec5009385e0d
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_knuckle_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1452690f5f93875665e5b23f022e89fa04f2a6aab6e49ae0112db7821f759792
+size 36617
diff --git a/shadow_hand/meshes/visual/f_middle_E3M5.glb b/shadow_hand/meshes/visual/f_middle_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..e535fbcbb0bda19180b653a5656e81db966e19a7
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_middle_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:88aa04c5c084e64eb1d210c74638d552fb3efbdff6e5875f0193fe22a40a695d
+size 33764
diff --git a/shadow_hand/meshes/visual/f_middle_E3M5.mtl b/shadow_hand/meshes/visual/f_middle_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_middle_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
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diff --git a/shadow_hand/meshes/visual/f_middle_E3M5.obj b/shadow_hand/meshes/visual/f_middle_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..2b35f648eaa190f391fd4eddd9fc1636b0a38a91
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_middle_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:c1c0b460c69894cbef8bc1ab8bfed6112832a20aa77531f3823a4fb8090daeac
+size 29082
diff --git a/shadow_hand/meshes/visual/f_proximal_E3M5.glb b/shadow_hand/meshes/visual/f_proximal_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..d3dafd023cc6523a0bce48ef19e9f8e8bc4edfc6
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_proximal_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:9c43089eac777d05cf902620931b81870aa3bfb811370ffa58d34548577d8c85
+size 78800
diff --git a/shadow_hand/meshes/visual/f_proximal_E3M5.mtl b/shadow_hand/meshes/visual/f_proximal_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_proximal_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
+Ks 0.500000 0.500000 0.500000
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+illum 2
diff --git a/shadow_hand/meshes/visual/f_proximal_E3M5.obj b/shadow_hand/meshes/visual/f_proximal_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..1a9bbc03bdc3178b7cbfaeb0295e835a26447379
--- /dev/null
+++ b/shadow_hand/meshes/visual/f_proximal_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:adb5475347a153997da789b0ab46b3b1b945906c9bf6a4e28787150ed3afa8cd
+size 71175
diff --git a/shadow_hand/meshes/visual/forearm_E3M5.glb b/shadow_hand/meshes/visual/forearm_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..a260e239e304ec94b3b2023be72aa2b0fda77dec
--- /dev/null
+++ b/shadow_hand/meshes/visual/forearm_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:82bbef2f9dead84f527fef66bd1993895477388daeb1550b9bcd7a25e713754c
+size 471844
diff --git a/shadow_hand/meshes/visual/forearm_E3M5.mtl b/shadow_hand/meshes/visual/forearm_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..b00dd640dc1aff21b3302f83061737e58162e0be
--- /dev/null
+++ b/shadow_hand/meshes/visual/forearm_E3M5.mtl
@@ -0,0 +1,32 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 640.000000
+Ka 0.600000 0.600000 0.600000
+Kd 0.500000 0.500000 0.500000
+Ks 0.600000 0.600000 0.600000
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+d 1.000000
+illum 3
+
+newmtl Material.002
+Ns 490.000000
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+illum 2
+
+newmtl Material_006
+Ns 250.000000
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diff --git a/shadow_hand/meshes/visual/forearm_E3M5.obj b/shadow_hand/meshes/visual/forearm_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..ac7b2240643cf09e540d24164def63f32301f150
--- /dev/null
+++ b/shadow_hand/meshes/visual/forearm_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:67f719d4131da5edd1c43e8a560481087074833e3fe4580f4ffe0ea3d07691fb
+size 442301
diff --git a/shadow_hand/meshes/visual/lf_metacarpal_E3M5.glb b/shadow_hand/meshes/visual/lf_metacarpal_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..5afeeced96327602919bf8e10678547a337f9756
--- /dev/null
+++ b/shadow_hand/meshes/visual/lf_metacarpal_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3be27d164d5eafa1ab272d755f5f363454c5204102135ef0bb486045520b878f
+size 107936
diff --git a/shadow_hand/meshes/visual/lf_metacarpal_E3M5.mtl b/shadow_hand/meshes/visual/lf_metacarpal_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/shadow_hand/meshes/visual/lf_metacarpal_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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+illum 2
diff --git a/shadow_hand/meshes/visual/lf_metacarpal_E3M5.obj b/shadow_hand/meshes/visual/lf_metacarpal_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..9be72ccae81999892cf2f8a742487dc7c3b37846
--- /dev/null
+++ b/shadow_hand/meshes/visual/lf_metacarpal_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:def539fcdefb4399ae69cb4fc5b2c5296b43ec7015c5581c2b90e7643a030a62
+size 98772
diff --git a/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.glb b/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..9ac4efb7f0f2a055f0796604a059d480facd5d09
--- /dev/null
+++ b/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:b69f0ad7600c6f1eb7c74ba563d0acaa5864b31531e94a660ba8bf5cd7a23817
+size 107824
diff --git a/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.mtl b/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..12df0b124896530b0e2488fc72b9f2b8c9dee912
--- /dev/null
+++ b/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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diff --git a/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.obj b/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..980b5cb701fb8036797567e250f6f972971df937
--- /dev/null
+++ b/shadow_hand/meshes/visual/lf_metacarpal_E3M5_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dbe1dc639cd9c212229a4010f60ebc56b174ff6891eac05410e6bee2965f927f
+size 43756
diff --git a/shadow_hand/meshes/visual/palm_E3M5.glb b/shadow_hand/meshes/visual/palm_E3M5.glb
new file mode 100644
index 0000000000000000000000000000000000000000..3d9663b182110351232bdedb866905f992aab60a
--- /dev/null
+++ b/shadow_hand/meshes/visual/palm_E3M5.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:dcb1a4b613d28970100090830626a09ad1ca4d5479278880226baa7ed915a3fc
+size 857944
diff --git a/shadow_hand/meshes/visual/palm_E3M5.mtl b/shadow_hand/meshes/visual/palm_E3M5.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..9158ca721adfa029e94f106fde0e013f9f7437f0
--- /dev/null
+++ b/shadow_hand/meshes/visual/palm_E3M5.mtl
@@ -0,0 +1,12 @@
+# Blender 3.6.5 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.002
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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diff --git a/shadow_hand/meshes/visual/palm_E3M5.obj b/shadow_hand/meshes/visual/palm_E3M5.obj
new file mode 100644
index 0000000000000000000000000000000000000000..98503ddc7ce1a45749fd6502f422756e634139a3
--- /dev/null
+++ b/shadow_hand/meshes/visual/palm_E3M5.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:529d6bcf4f356aeaece8a9c884d98bc399d039fdb2f3174449aeaaf262aa812d
+size 807151
diff --git a/shadow_hand/meshes/visual/palm_E3M5_left.glb b/shadow_hand/meshes/visual/palm_E3M5_left.glb
new file mode 100644
index 0000000000000000000000000000000000000000..56cc4a339dd299b03bb833a9746d00a13ad15da7
--- /dev/null
+++ b/shadow_hand/meshes/visual/palm_E3M5_left.glb
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:1f9871bc32f2385187a199fa840c08528201f5ba05d690388b652326e6eb8714
+size 858264
diff --git a/shadow_hand/meshes/visual/palm_E3M5_left.mtl b/shadow_hand/meshes/visual/palm_E3M5_left.mtl
new file mode 100644
index 0000000000000000000000000000000000000000..52454571323113e8bc054aa37ccaea481c11c1de
--- /dev/null
+++ b/shadow_hand/meshes/visual/palm_E3M5_left.mtl
@@ -0,0 +1,12 @@
+# Blender 4.0.0 MTL File: 'None'
+# www.blender.org
+
+newmtl Material.001
+Ns 490.000000
+Ka 1.000000 1.000000 1.000000
+Kd 0.000000 0.000000 0.000000
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diff --git a/shadow_hand/meshes/visual/palm_E3M5_left.obj b/shadow_hand/meshes/visual/palm_E3M5_left.obj
new file mode 100644
index 0000000000000000000000000000000000000000..8830bd4b6bbd244d1a2c920ac166a5c8114600f5
--- /dev/null
+++ b/shadow_hand/meshes/visual/palm_E3M5_left.obj
@@ -0,0 +1,3 @@
+version https://git-lfs.github.com/spec/v1
+oid sha256:3f7b3a9f8e00602aaba900fe107a19e7a9ab480750faa63812311d5009711bdf
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diff --git a/shadow_hand/meshes/visual/th_distal_pst.glb b/shadow_hand/meshes/visual/th_distal_pst.glb
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+# Blender 3.6.5 MTL File: 'None'
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+newmtl Material.002
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diff --git a/shadow_hand/shadow_hand_left_glb.urdf b/shadow_hand/shadow_hand_left_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..9e1f91b7f2b13ce4277bb26f7cfb3f459ae01a23
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diff --git a/shadow_hand/shadow_hand_left_woarm.urdf b/shadow_hand/shadow_hand_left_woarm.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..055d21e45487b522e2c57360370098b98fdd173c
--- /dev/null
+++ b/shadow_hand/shadow_hand_left_woarm.urdf
@@ -0,0 +1,895 @@
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diff --git a/shadow_hand/shadow_hand_right.urdf b/shadow_hand/shadow_hand_right.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..3455a77d76b3b64139a7d24cf423bcbefa85e345
--- /dev/null
+++ b/shadow_hand/shadow_hand_right.urdf
@@ -0,0 +1,894 @@
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diff --git a/shadow_hand/shadow_hand_right_glb.urdf b/shadow_hand/shadow_hand_right_glb.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..2a0d2e9323650e3aba4698bedb669afcd79f0364
--- /dev/null
+++ b/shadow_hand/shadow_hand_right_glb.urdf
@@ -0,0 +1,894 @@
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diff --git a/shadow_hand/shadow_hand_right_woarm.urdf b/shadow_hand/shadow_hand_right_woarm.urdf
new file mode 100644
index 0000000000000000000000000000000000000000..cae5d4b89e46a5861ad1131867340d434fc7236a
--- /dev/null
+++ b/shadow_hand/shadow_hand_right_woarm.urdf
@@ -0,0 +1,893 @@
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